version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 178
start: 5 18 116 12 24 39
data:
$ID,512
$MISSION,7
$DIVE,178
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,970
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,2155
$TGT_DEFAULT_LON,-15801
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,10
$NOCOMM_ACTION,13
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130107.97
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,206
$PITCH_MAX,3954
$C_PITCH,2688
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2762
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,142.39999
$AH0_10V,93.699997
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-90.971657
$PRESSURE_SLOPE,0.000165269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,165
$DEVICE4,131
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042942334
$SEABIRD_T_H,0.00062847038
$SEABIRD_T_I,2.3239887e-05
$SEABIRD_T_J,2.4096664e-06
$SEABIRD_C_G,-9.769515
$SEABIRD_C_H,1.0891893
$SEABIRD_C_I,0.00078893855
$SEABIRD_C_J,5.7872021e-06
$GPS1,180516,120517,3428.440,-15758.909,12,2.7,33,11.2
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-70.5
$GPS2,180516,122358,3428.603,-15758.619,6,0.9,7,11.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.285
$KALMAN_X,-2644.9,788.8,61.0,924.2,-5790.6
$KALMAN_Y,208676.8,-776.9,-825.4,-298047.0,8369.7
$MHEAD_RNG_PITCHd_Wd,168.9,1303074,-16.4,-10.000,-19.35,2731
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-136.3,135,2322,1107,1220,0.0,0.0,0,88,0.00,0.00,-70.22,0.000,16386,0.000,0.000,131,2321,2922,2900,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,131,4095,2901,2945,3.2,-2.5,8,119,9.07,2.22,-10.15,0.000,19204,0.220,0.054,2447,916,3318,3317,3320,0,0,0,0,0,0,25.80,26.10,26.42
$GC,236,-0.72,-136.3,2448,916,3317,3320,37.7,-23.9,26,248,0.05,2.15,0.00,0.000,3078,0.172,0.044,2455,2310,3318,3316,3320,0,0,0,0,0,0,26.06,26.22,28.83
$GC,489,-0.72,-136.3,2455,2310,3318,3319,93.5,-21.1,51,492,0.00,0.10,0.00,0.000,2308,0.000,0.092,2455,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1044,-0.72,-136.3,1640,4072,3308,3317,199.3,-18.6,101,1051,0.00,0.22,0.00,0.000,3078,0.000,0.052,2455,2234,3319,3319,3320,0,0,1,0,0,0,28.83,26.56,28.83
$GC,1292,-0.72,-136.3,2454,2233,3319,3320,246.2,-18.8,108,1296,0.00,0.20,0.00,0.000,2308,0.000,0.065,2455,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1796,-0.72,-136.3,2454,4095,3319,3319,337.9,-19.2,120,1800,0.00,0.20,0.00,0.000,3078,0.000,0.054,2455,2241,3319,3319,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2053,-0.72,-136.3,2454,2240,3318,3319,390.1,-18.6,127,2057,0.00,0.20,0.00,0.000,2308,0.000,0.063,2454,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2557,-0.72,-136.3,2454,4095,3317,3319,477.2,-17.6,139,2561,0.00,0.20,0.00,0.000,3078,0.000,0.056,2454,2249,3318,3318,3318,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2815,-0.72,-136.3,2454,2249,3317,3318,525.7,-17.2,146,2819,0.00,0.17,0.00,0.000,2308,0.000,0.070,2454,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3319,-0.72,-136.3,2454,4095,3316,3316,608.6,-17.3,158,3322,0.00,0.20,0.00,0.000,3078,0.000,0.054,2454,2241,3316,3317,3316,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3576,-0.72,-136.3,2453,2241,3316,3316,657.6,-17.5,165,3580,0.00,0.20,0.00,0.000,2308,0.000,0.063,2454,4095,3316,3316,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3955,-0.72,-136.3,2453,4095,3314,3314,718.9,-16.8,174,3958,0.00,0.20,0.00,0.000,3078,0.000,0.055,2454,2249,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4217,-0.72,-136.3,2453,2249,3314,3313,766.2,-16.6,181,4220,0.00,0.17,0.00,0.000,2308,0.000,0.070,2453,4095,3313,3314,3313,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4690,-0.72,-136.3,2453,4095,3313,3312,837.1,-15.7,192,4697,0.00,0.20,0.00,0.000,3078,0.000,0.056,2453,2243,3312,3313,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4937,-0.72,-136.3,2453,2242,3312,3311,878.9,-14.6,199,4941,0.00,0.20,0.00,0.000,2308,0.000,0.066,2453,4095,3311,3312,3311,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5096,begin apogee
$GC,5101,-0.17,0.0,2452,2246,3311,3309,901.6,-14.1,203,5220,0.55,0.08,115.40,1.108,10246,0.117,0.109,2630,2294,2762,2775,2749,0,0,0,0,0,0,26.53,25.02,24.38
$STATE,5221,end apogee,CONTROL_FINISHED_OK
$STATE,5221,begin climb
$GC,5223,0.72,136.3,2630,2295,2773,2749,905.1,0.0,206,5353,0.77,2.28,121.82,1.060,10756,0.052,0.045,2926,929,2207,2244,2171,0,0,0,0,0,0,25.19,24.82,24.14
$GC,5496,0.72,136.3,2926,929,2236,2165,863.3,21.5,213,5500,0.00,2.20,0.00,0.000,1030,0.000,0.047,2918,2289,2200,2236,2165,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5772,0.72,136.3,2917,2288,2233,2164,802.9,22.1,220,5775,0.00,0.12,0.00,0.000,260,0.000,0.092,2917,4095,2198,2233,2164,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5860,0.72,136.3,2917,4095,2232,2163,785.9,21.7,222,5864,0.00,0.20,0.00,0.000,1030,0.000,0.057,2917,2258,2198,2232,2164,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6132,0.72,136.3,2917,2258,2230,2162,725.0,21.4,229,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2258,2196,2230,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,0.72,136.3,2917,2258,2229,2162,673.8,21.4,235,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2258,2195,2229,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,0.72,136.3,2917,2258,2227,2162,621.3,21.7,241,6616,0.00,2.08,0.00,0.000,516,0.000,0.047,2927,915,2194,2227,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6676,0.72,136.3,2926,915,2226,2162,613.4,21.6,242,6681,0.00,2.15,0.00,0.000,1030,0.000,0.048,2918,2292,2194,2226,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6923,0.72,136.3,2918,2291,2226,2162,554.4,21.1,248,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2290,2193,2225,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7163,0.72,136.3,2918,2290,2225,2162,505.6,20.0,254,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2290,2193,2225,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7403,0.72,136.3,2918,2290,2224,2161,458.7,19.2,260,7407,0.00,0.10,0.00,0.000,260,0.000,0.103,2917,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7684,0.72,136.3,2917,4094,2224,2162,405.2,19.1,267,7687,0.00,0.17,0.00,0.000,1030,0.000,0.061,2918,2245,2192,2223,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7964,0.72,136.3,2917,2245,2224,2161,352.7,18.9,274,7968,0.00,0.20,0.00,0.000,260,0.000,0.070,2917,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8228,0.72,136.3,2917,4095,2223,2161,308.2,18.5,280,8231,0.00,0.20,0.00,0.000,1030,0.000,0.057,2917,2245,2192,2223,2161,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8485,0.72,136.3,2917,2245,2223,2161,254.3,19.5,287,8488,0.00,0.20,0.00,0.000,260,0.000,0.068,2918,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9004,0.72,136.3,2917,4095,2223,2162,158.5,17.3,313,9011,0.00,0.20,0.00,0.000,1030,0.000,0.056,2917,2244,2192,2223,2162,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9254,0.72,136.3,2917,2244,2223,2161,115.1,17.4,338,9258,0.00,0.20,0.00,0.000,260,0.000,0.066,2917,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9870,0.72,136.3,2917,4095,2223,2162,17.3,15.3,394,9880,0.00,0.17,0.00,0.000,1030,0.000,0.060,2917,2247,2193,2224,2162,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,9964,end climb,SURFACE_DEPTH_REACHED
$STATE,9964,begin surface coast
$FINISH,1.7,2.407032
$STATE,9986,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10000,113.50,0.650,0,0,1172,390.02
$SM_GC,2.22,6.90,0.10,113.50,0.031,0.103,0.650,189,2317,1172,-7.73,-0.71,390.02,0,0,0,0,0,0,26.66,26.73,24.94
$IRIDIUM_FIX,3417.32,-15758.81,150309,010142
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.86
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,18.40
$XPDR_PINGS,350
$24V_AH,24.1,23.189
$10V_AH,10.3,13.112
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.350,17.775,237.225,113.500,0.000,152.582,200.927,387.908,87.500,0.000,8.314,1308.769,6358.268,401.558,3071.133,123.562,0.000,1321.507,0.000,1900.190,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,109.395,1107.720,650.250,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.324,181.428,355.866,320.218,663.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,37196,410
$CAP_FILE_SIZE,106017,0
$CFSIZE,259248128,249757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,180516,151402,3427.687,-15757.592,13,1.7,14,11.2